Learning wheel odometry and IMU errors for localization

M Brossard, S Bonnabel - 2019 International Conference on …, 2019 - ieeexplore.ieee.org
Odometry techniques are key to autonomous robot navigation, since they enable self-
localization in the environment. However, designing a robust odometry system is particularly …

INS/odometer land navigation by accurate measurement modeling and multiple-model adaptive estimation

W Ouyang, Y Wu, H Chen - IEEE Transactions on Aerospace …, 2020 - ieeexplore.ieee.org
Land vehicle navigation based on the inertial navigation system (INS) and odometers (ODs)
is a classical autonomous navigation application and has been extensively studied over the …

Slip-based autonomous ZUPT through Gaussian process to improve planetary rover localization

C Kilic, N Ohi, Y Gu, JN Gross - IEEE robotics and automation …, 2021 - ieeexplore.ieee.org
The zero-velocity update (ZUPT) algorithm provides valuable state information to maintain
the inertial navigation system (INS) reliability when stationary conditions are satisfied …

SLAM for autonomous planetary rovers with global localization

D Geromichalos, M Azkarate… - Journal of Field …, 2020 - Wiley Online Library
This paper describes a novel approach to simultaneous localization and mapping (SLAM)
techniques applied to the autonomous planetary rover exploration scenario to reduce both …

A stacked LSTM-based approach for reducing semantic pose estimation error

R Azzam, Y Alkendi, T Taha, S Huang… - IEEE Transactions on …, 2020 - ieeexplore.ieee.org
Achieving high estimation accuracy is significant for semantic simultaneous localization and
mapping (SLAM) tasks. Yet, the estimation process is vulnerable to several sources of error …

Learning terrain dynamics: A gaussian process modeling and optimal control adaptation framework applied to robotic jumping

AH Chang, CM Hubicki, JJ Aguilar… - … on Control Systems …, 2020 - ieeexplore.ieee.org
The complex dynamics characterizing deformable terrain presents significant impediments
toward the real-world viability of locomotive robotics, particularly for legged machines. We …

Learning a bias correction for lidar-only motion estimation

TY Tang, DJ Yoon, F Pomerleau… - 2018 15th Conference …, 2018 - ieeexplore.ieee.org
This paper presents a novel technique to correct for bias in a classical estimator using a
learning approach. We apply a learned bias correction to a lidar-only motion estimation …

Robust incremental state estimation through covariance adaptation

RM Watson, JN Gross, CN Taylor… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
Recent advances in the fields of robotics and automation have spurred significant interest in
robust state estimation. To enable robust state estimation, several methodologies have been …

Adaptive localization and mapping with application to planetary rovers

J Hidalgo‐Carrió, P Poulakis… - Journal of Field …, 2018 - Wiley Online Library
Future exploration rovers will be equipped with substantial onboard autonomy. SLAM is a
fundamental part and has a close connection with robot perception, planning, and control …

Every hop is an opportunity: Quickly classifying and adapting to terrain during targeted hopping

AH Chang, C Hubicki, A Ames… - … Conference on Robotics …, 2019 - ieeexplore.ieee.org
Practical use of robots in diverse domains requires programming for, or adapting to, each
domain and its unique characteristics. Failure to do so compromises the ability of the robot to …